ES2488915T3 - Wave Energy - Google Patents

Abstract

A wave-powered water vehicle, comprising: (1) a float (11) comprising a satellite position sensor (113), (2) a swimmer (21) comprising (a) a horizontal sensor that detects direction in a horizontal plane, and (b) a guiding actuator (222), (3) a tie (31) that connects the float (11) and the swimmer (21), and (4) a computer system (115, 217) that (a) is linked to the position sensor, horizontal sensor, and guide actuator (116, 222), and (b) contains, or can be programmed to contain, instructions to control the guide actuator in response to signals received from the position sensor and from the horizontal sensor, or in response to signals received from a sensor in the vehicle; being the float, swimmer and mooring such that, when the vehicle is in calm water, (i) the float (11) is on or near the surface of the water, (ii) the swimmer (21) is submerged below of float (11), and (iii) the tie (31) is under tension; the swimmer (21) (2a) comprising a swimmer's body (211) having a longitudinal axis and (2b) a fin system (213, 214) that (a) is fixed to the swimmer's body (211), (b ) comprises a fin, and (c) when the vehicle is in wavy water, (i) it has a configuration that changes as a result of wave motion, and (ii) it interacts with the water to generate forces that tend to move the swimmer in a horizontal direction.

Description

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DESCRIPTION

Wave Energy

5 Reference to related requests

This application claims priority of the provisional application of US Patent No. 60 / 760,893, filed on January 20, 2006 (Docket JUP 001), US Patent Application No. 11/430 6447, filed on May 18, 2006 (Docket JUP 001-1), and provisional US Patent Application No. 60 / 841,834, filed on

10 September 1, 2006 (Docket JUP 001-2).

Background of the invention

This invention relates to devices and methods that use wave energy in water (hereinafter referred to as "wave energy").

As a wave travels along the surface of the water, it produces a vertical movement of the water, but no horizontal net movement. The amplitude of vertical movement decreases logarithmically with depth; at a depth of about half the wavelength, there is little vertical movement. 20 The speed of wind-induced currents also decreases sharply with depth. A number of proposals have been made to use wave energy to perform useful work. Reference may be made, for example, to U.S. Patent Nos. 986,627, 1,315,267, 3,312,186, 3,453,981, 3,508,516, 3,845,733, 3,872,819, 3,928,967, 4,332,571, 4,371,347 , 4,389,843, 4,598,547, 4,684,350, 4,842,560, 4,968,273,

5,084,630 and 6,561,856. US 3,872,819 is considered as the closest state of the art and gives

25 know a float, a swimmer with pivoting fins and a guide actuator, and a mooring that connects the float and the swimmer.

Summary of the invention

In accordance with the present invention, we have discovered novel wave-propelled devices, and novel methods of using wave-propelled devices. The invention will be described primarily with reference to water vehicles that travel on the water surface when placed in water with waves that move along the water surface (hereinafter referred to as "water with waves") . In such vehicles, at least part of the wave energy moves the float on the surface of the water (being converted

35 the rest of the wave energy, if any, in other useful ways, or discarded). However, the invention is also useful when the float is held in a fixed position, for example by means of an anchor or other accessory. In preferred embodiments, the invention makes it possible for driverless water vehicles to carry out tasks that would be tedious, expensive or dangerous to carry out using vehicles operated by humans.

In a first preferred aspect, this invention provides a wave-propelled water vehicle comprising

(1) a float comprising a satellite position sensor,

45 (2) a swimmer comprising (a) a horizontal sensor that detects a direction in a horizontal plane, and (b) a guidance actuator,

(3) a mooring that connects the float and the swimmer, and

50 (4) a computer system that (a) is linked to the position sensor, the horizontal sensor and the guidance actuator, and (b) contains, or can be programmed to contain, instructions for controlling the guidance actuator in response to signals received from the position sensor and the horizontal sensor, or in response to signals received from a sensor in the vehicle;

55 being the float, swimmer and mooring such that, when the vehicle is still in calm water,

(i) the float is on or near the surface of the water,

(ii) the swimmer is submerged below the float, and 60

(iii) the mooring is under tension; Y

understanding the swimmer

65 (2a) a swimmer's body that has a longitudinal axis and

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(2b) a fin system that

(a) is attached to the swimmer's body,

5 (b) comprises a fin, and

(c) when the device is in water with waves,

(i) has a configuration that changes as a result of wave movement, and 10

(ii) interacts with water to generate forces that tend to move the swimmer in a direction that has a horizontal component (in what is still referred to simply as "in the horizontal direction").

The term "fin" is used herein to denote a component comprising a generally laminar surface.

15 against which, when the wave-powered device is in water with waves, the water exerts sufficient pressure to substantially influence the movement of the swimmer. In many cases, the water vehicle includes two or more fins, which may be the same or different, fixed at different points on the swimmer's body. The "longitudinal axis" of the swimmer's body is in the generally vertical plane along which the swimmer moves when the device is in water with waves.

The fin system preferably has at least one (i.e. one or more) of the following characteristics:

(A) It comprises a fin, for example a generally laminar fin, which rotates around an axis of rotation (by

example, a rotation axis generally transverse to the longitudinal axis of the swimmer's body), a rotation axis that has a spatial relationship with the swimmer's body that changes when the device is in water with waves.

(B) It comprises (i) a fin, for example a generally laminar fin, which rotates around a rotation axis (for example, a rotation axis generally transverse to the longitudinal axis of the swimmer's body), and (ii) a component elastic (for example, a metal coil spring, a metal leaf spring, a metal torsion bar, or

30 an elastomer component such as a natural or artificial rubber band) that is not part of the fin, and which deforms elastically, and therefore influences changes in the fin system configuration when the device is in water with waves.

(C) It comprises a fin, for example a generally laminar and elastically deformable fin, which has a

35 leading edge comprising (i) a relatively rigid central section that has a fixed spatial relationship with the swimmer's body (including the possibility that the central section rotates around an axis of rotation that has a fixed spatial relationship with the body of the swimmer), and (ii) relatively deformable outboard sections.

(D) It comprises two generally laminar fins, for example two generally laminar and deformable fins

40 elastically that they are mirror images of each other, and each of which rotates around an axis of rotation generally aligned with the longitudinal axis of the swimmer's body (such fins function in a manner similar to the pectoral fins of a fish or wings of a bird, and are referred to in the following as "pectoral" fins).

The mooring preferably comprises one or both of the following characteristics:

(AND)

It comprises an elastically deformable element.

(F)

It comprises a component that transmits data and / or electrical power.

The swimmer's body preferably comprises one or more of the following characteristics:

(G) It comprises a substantially rigid front section, an intermediate section that is relatively flexible in the vertical plane, and a substantially rigid rear section, the mooring being attached, for example, to the previous section, and the fin system being attached, for example, to the previous section.

55

(H)

It comprises one or more components selected from electrical equipment, communications equipment, recording equipment, control electronics, guidance equipment, and sensors.

(I)

It comprises one or more substantially vertical fins that influence the orientation of the swimmer's body in

60 the horizontal plane. Such fins can help balance resistance forces and limit the swimmer's turn when the tie pulls sideways. In one embodiment, the swimmer's body comprises a fixed front flap and a rear fin that can be actuated to direct the swimmer. In a similar embodiment, a part of the swimmer's body has a relatively small horizontal dimension and a relatively large vertical dimension; for example, such a part, if it is the rear end of the swimmer's body, could be

65 powered to direct the swimmer.

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(J) It comprises a generally tubular housing, with pectoral fins that extend to both sides of the body.

When reference is made in what follows a fin or other component that rotates around an axis of rotation, or

5 a component that is rotatably mounted or rotatably fixed, this includes not only the possibility that the rotation is around a single axis, but also the possibility that the rotation results from rotating around two or more axes ( which may be, although not necessarily, parallel to each other), and the possibility that the rotation implies a relative continuous movement of contiguous parts of the fin or other component, such as when a part of a flexible fin is fixed and the rest of the flexible fin moves relative to (that is, "rotates around") the fixed part.

In a second preferred aspect, this invention provides a wave-propelled water vehicle comprising (1) a float, (2) a swimmer, (3) a mooring that connects the float and the swimmer, and (4) a computer system ; the float, swimmer and mooring being such that, when the vehicle is in calm water, (i) the float

15 is above or near the surface of the water, (ii) the swimmer is submerged below the float, and (iii) the mooring is under tension; the swimmer, when the vehicle is in water with waves, interacts with the water to generate forces that move the vehicle in a horizontal direction;

the float comprises a satellite position sensor;

the swimmer comprises (a) a sensor that detects a direction in a horizontal plane, and (b) a guidance actuator; Y

The computer system (a) is linked to the position sensor, the horizontal sensor and the helm, and (b) contains, or can be programmed to contain, instructions to control the guidance actuator in response to signals.

25 received from the position sensor and the horizontal sensor, or in response to signals received from a sensor in the vehicle. In water vehicles of the second aspect of the invention, the swimmer preferably comprises a body and a fin system according to the first aspect of the invention, although it can comprise different means for generating forces that move the vehicle in a horizontal direction.

The water vehicles of the invention often comprise a single float and a single swimmer, and the invention will be described primarily with reference to such water vehicles. However, the invention includes the possibility of having more than one float, and / or more than one swimmer, for example a single float attached to a plurality of swimmers, the swimmers preferably being aligned, by a plurality of moorings.

In a third preferred aspect, this invention provides a method for using wave energy comprising placing a device according to the first or second preferred aspect of the invention in a body of water that has or is expected to have water waves moving along its surface.

In a fourth preferred aspect, this invention provides a method of obtaining information comprising receiving signals from a device according to the first or second preferred aspect of the invention, for example signals from some or all of a plurality of such devices. , for example 2-10,000 or 10-1000 devices.

In a fifth preferred aspect, this invention provides a method of obtaining information comprising

Examining signals collected by a device according to the first or second preferred aspect of the invention, for example signals collected by some or all of a plurality of such devices, for example,

10,000 or 10-1000 devices.

In a sixth preferred aspect, this invention provides a method of controlling a function of a device according to the first or second preferred aspect of the invention, the method comprising sending signals to the device.

In a seventh preferred aspect, this invention provides novel floats suitable for use in the first or second preferred aspect of the invention and for other purposes; suitable novel swimmers

55 for use in the first or second preferred aspect of the invention and for other purposes; novel fin systems suitable for use in the first or second preferred aspect of the invention and for other purposes; and novel fins suitable for use in the first and second preferred aspect of the invention and for other purposes.

In an eighth preferred aspect, this invention provides sets of parts comprising two or more of the components necessary to assemble a device according to the first or second preferred aspect of the invention.

Brief description of the drawings

This invention is illustrated by the accompanying drawings, which are schematic and not to scale.

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Figure 1 is a diagram of a water vehicle.

Figures 2 and 3 are cross sections of fins for use in certain embodiments. 5 Figure 4 is a cross section of a mooring.

Figure 5 is a block diagram of a control system.

Figure 6 shows a trajectory for a water maintenance vehicle in position.

Figure 7 is a perspective view of a water vehicle.

Figure 8 shows different configurations of a fin of Figure 7.

15 Figure 9 is a perspective view of a water vehicle.

Figure 10 is an enlarged perspective view of part of Figure 9.

Figures 11A to 11D show different configurations of the fins of Figure 9.

Figures 12-19 and 21 are side views of water vehicles.

Figure 20 is a plan view of the water vehicle of Figure 21.

25 Figures 22A to 22C show different configurations of a water vehicle that has a flexible body.

Figures 23-25 are perspective views of water vehicles.

Figures 26A to 26D show different views of a swimmer.

Figures 27A to 27D show different views of a water vehicle.

In some figures, the fin system is numbered 0, 1, 2, 3 or 4. If the configuration is numbered 0, it is the

35 configuration most likely adopted when the vehicle is in calm water. If the configuration is numbered as 1, it is the configuration most likely adopted when the float is falling behind the crest of the wave, and the tension in the mooring is falling (and may be zero). If the configuration is numbered as 2, it is the configuration most likely adopted when the float has fallen into the wave, and the tension in the mooring begins to increase. If the configuration is numbered as 3, it is the configuration most likely adopted when the float is rising towards the top of the wave and the mooring is at its maximum tension or near it for this particular cycle. If the configuration is numbered 4, it is the configuration most likely adopted when the float is near the top of a wave crest and the tension in the mooring has decreased. It should be understood, however, that the configuration of the fin system in practice will not necessarily be that shown in the figures.

Four. Five

Detailed description of the invention

In the previous summary of the invention, the detailed description that follows, and the accompanying drawings, refers to specific features of the invention. It will be understood that the disclosure of the invention in this description includes all possible combinations of such specific features. For example, when a specific characteristic is disclosed in the context of a specific aspect, a specific embodiment or a specific figure, that characteristic can be used, to the extent appropriate, in the context of other aspects, embodiments and concrete figures, and in the invention in general. It is also understood that this invention includes all the novel features disclosed therein and is not limited to the preferred aspects of the invention.

55 established above.

The term "comprises" and grammatical equivalents thereof are used in the following with the meaning that other elements (ie, components, ingredients, steps, etc.) are optionally present. For example, a water vehicle "comprising" (or "comprising") components A, B and C may contain only components A, B and C, or may contain not only components A, B and C but also one or More than other components. The term "at least" followed by a number is used in the following to denote the beginning of an interval that begins with that number (which may be an interval that has an upper limit or no upper limit, depending on the variable that is is defining). For example "at least 1" means 1 or more than 1, and "at least 80%" means 80% or more than 80%. The term "maximum" followed by a number is used in 65 which follows to denote the end of an interval ending with that number (which may be an interval that has 1

or 0 as its lower limit, or an interval without a lower limit, depending on the variable being defined). By

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For example, "at most 4" means 4 or less than 4, and "at most 40%" means 40% or less than 40%. In this description, when an interval is given as "(a first number) to (a second number)" or "(a first number) - (a second number)", this means an interval whose lower limit is the first number and whose upper limit is the second number. For example, "5 to 15 feet" or "5-15 feet" means an interval whose lower limit

5 is 5 feet and whose upper limit is 15 feet. The terms "plural", "multiple", "plurality" and "multiplicity" are used in the following to denote two or more of two elements.

When reference is made in what follows a method comprising two or more defined stages, the defined stages may be carried out in any order or simultaneously (except when the context excludes such a possibility), and the method may optionally include one or plus other stages that are carried out before any of the defined stages, between two of the defined stages, or after all the defined stages (except when the context excludes such possibility). When reference is made in the following to "first" and "second" elements, this is generally done for identification purposes; Unless the context requires otherwise, the first and second elements may be the same or different, and a reference to a first element does not mean that a second element is necessarily present (although it may be present). When referring to "one" element, this does not exclude the possibility that there are two or more such elements (except when the context excludes such possibility). For example, when referring to what follows a fin, or a fin system, the swimmer may comprise (and frequently does) two or more fins or fin systems, which may be the same or different. When reference is made in what follows two or more elements, this does not exclude the possibility that the two or more elements are replaced by a smaller or greater number of elements that provide the same function (except when the context excludes such possibility) . For example, the swimmer's body and the fin system can together form a single unit body. The numbers given here should be considered with the appropriate latitude to their context and expression; for example, each number is subject to variation that depends on the accuracy with which it can be measured by methods used

Conventionally by those skilled in the art.

Unless stated otherwise, references to the position and shape of a vehicle component refer to that position and shape when the vehicle is in calm water. Various terms are used in this description according to the definitions offered above and the additional definitions offered below.

"Leading edge" (or leading edge) and "trailing edge" (or leaking end) denote the front and rear surfaces respectively of a fin or other component when wave energy causes the vehicle to move forward.

35 "Anterior" and "posterior" denote positions relatively close to the edges (or ends) of attack and leakage, respectively.

"Aligned" denotes a direction that is generally in a vertical plane that is parallel to the vertical plane that includes the longitudinal axis of the swimmer. "Axially aligned" denotes a direction that is generally in the vertical plane that includes the longitudinal axis of the swimmer.

"Transversal" denotes a direction that is generally in a vertical plane perpendicular to the vertical plane that includes the axial centerline of the swimmer.

45 When referring to a characteristic that “generally” meets a specific definition, for example “generally in a vertical plane,” “generally laminar,” or “generally horizontal,” it should be understood that the characteristic does not it needs to strictly comply with that specific definition, but rather it can move away from such strict definition in an amount that allows effective operation in accordance with the principles of the invention.

All vehicle components, in particular any electrical connection, are preferably constructed of materials that are resistant to salt water, and / or enclosed in a sealed sheath of such material. Preferably, the materials that are exposed to water are resistant to biological fouling, and are unattractive, or

55 including repellents, for marine animals, for example sharks. Suitable materials may be selected, for example, from metals and polymeric compounds, including copper-containing paints and low surface energy polymers such as polytetrafluoroethylene. When the vehicle includes batteries and solar panels (or other means of generating electricity), biological fouling can be prevented by using battery power or solar panels to briefly electrify conductive materials of the vehicle, and / or power a vibrator that releases Biological inlay materials. The leading edges that can become entangled in algae may optionally have sharp or serrated edges.

The vehicle is preferably designed to minimize resistance when the swimmer's movement pulls it forward, and to minimize the effect of winds and water currents that move the vehicle laterally. The float or the swimmer or both may have ailerons that are collected and have little effect on the resistance when the float or swimmer moves forward, but can be deployed and increase the resistance when the

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Float or swimmer move backwards. Such ailerons are preferably positioned so as to keep the float and / or the swimmer in a desired orientation if it moves backwards.

A preferred device having the characteristic (B) above may include, for example, a fin system that

5 comprises (1) a plurality of fins, for example 3-10 or 4-6 fins, for example 5 fins, (2) a rigid rod that is mounted on the body of the swimmer, and to which they are rotatably mounted each one of the fins, and (3) an elastic component as defined in (B). The rigid bar is preferably aligned with the longitudinal axis of the swimmer's body. The fins, which may be the same or different, are preferably one behind the other (optionally in the same horizontal plane), and each of the fins preferably rotates around a transverse axis that is generally transverse to the longitudinal axis of the swimmer's body . Each of the elastic components influences the speed and / or the extent of the rotation of the fin to which it is linked. The elastic component can extend, for example, from a fixed point on the rigid bar, for example behind the transverse axis of the fin, to a fixed point on the fin, for example behind the transverse axis of the fin.

A preferred device having the characteristics (A) and (B) above may include, for example, (i) a generally laminar flap that is mounted, optionally rotatably, directly or indirectly on a rigid bar that is optionally mounted in a rotating manner, in the body of the swimmer, and (ii) a spring and / or a torsion bar that is directly or indirectly connected to the fin and / or the rigid bar and that influences (a) the speed and / or the extent of rotation of the fin and / or rigid bar, and / or (b) the spatial relationship between the swimmer's body and the axis of rotation, during part or all of the system configuration changes.

A preferred device having the above characteristics (C) may, for example, have a fin system comprising a generally laminar and elastically deformable fin (such fin being optionally the only elastic component, or one of a plurality of elastic components, of the fin system), the fin having a

25 leading edge comprising (i) a relatively rigid central section that rotates about a rotation axis generally transverse to the longitudinal axis of the swimmer's body, and (ii) relatively deformable outboard sections (for example, a fin that it has a leading edge turned backwards, for example in the form of generally V).

The swimmer's body

The swimmer's body often has a generally cylindrical shape, or other shape selected to minimize resistance when the fin system pulls the swimmer through the water. There is often a single body of the swimmer, but there can be a plurality of bodies fixed to each other, preferably rigidly, with their axes

35 aligned, or with their parallel axes and separated from each other. Preferably, the body has a longitudinal axis that is generally horizontal when the vehicle is in calm water.

Usually, although not necessarily, the swimmer's body has a length (i.e., the dimension measured along the longitudinal axis) substantially greater than its width (i.e., the dimension of the swimmer's body measured transversely to the longitudinal axis). The swimmer's body length may be, for example, at least 0.3 m (1 foot), for example 0.9 to 3 m (3 to 10 feet) or 1.2 to 1.9 m ( 4 to 6 feet), although it may be substantially greater, for example up to 300 m (1000 feet) or more. The diameter (or, for non-cylindrical bodies, each of the minimum and maximum transverse dimensions) of the swimmer may be, for example, at least 30 mm (0.1 feet), or at least 90 m (0.3 feet) ), up to, for example, 0.1 times the length of the swimmer.

45 In some embodiments the entire body of the swimmer will be rigid. However, it is also possible that part of the swimmer's body is elastically deformable. For example, the swimmer's body may have a central section that is flexible, preferably substantially only in the vertical plane, with the rudder mounted in a rigid section behind the flexible central section and the fin system mounted in a rigid section by in front of the flexible central section. Optionally, the swimmer has a flotation center that is above the center of gravity.

As will be discussed later in the following, a wide variety of additional components can be incorporated into the swimmer's body. The heavy components are preferably fixed to the swimmer instead of the float. The wet weight of the swimmer, including the components attached to it, can be, for example, 29,000 kg (5-20,000 pounds), for example 2-225 kg (5-500 pounds), for example 9-30 kg (20 -60 pounds). Many components are preferably located in a sealed enclosure provided by the swimmer's body (for example, electrical equipment including batteries, electronic equipment, servomechanisms, waterproof passages and orientation equipment). Others are preferably or necessarily located outside the body of the swimmer, for example stabilization fins, stabilization ballast, rudders, some types of sensors, and sample collectors. The stabilization fins, which can be located, for example, near the front and / or near the back of the swimmer's body, can be fins fixed and generally aligned vertically that resist transverse resistance in the swimmer, or be fins fixed and generally aligned horizontally that resist the resistance vertically in the swimmer. The stabilization weights can be, for example, bars and / or discs, usually aligned with the swimmer's body, fixed to supports that descend vertically from the swimmer's body, thereby increasing the weight and changing the center of gravity of the swimmer, or they can be part of a fin

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of vertical stabilization similar to a keel.

In one embodiment, a hydrophone is attached to the body of the swimmer. Preferably, in order to separate the hydrophone from the noise generated by the swimmer, the hydrophone is placed at the end of a cable pulled behind the swimmer's body, or on an extension bar that projects, for example, from the part front of the swimmer's body.

The float

The float can be of any convenient size and shape, taking into account the components it carries, the way it will be used, and the desire to minimize resistance in water and against the wind. The float length may be less than, for example, between 0.5 and 0.9 times, substantially equal to, for example, 0.9 to 1.1 times, or greater than, for example, 1.1 to 4 Sometimes the length of the swimmer. The length of the float can be, for example, at least 0.3 m (1 foot), for example 1 to 3 m (3-10 feet) or 1.2 to 1.9 m (4 to 6 feet) ), although it can

15 be substantially larger, for example up to 300 m (1000 feet) or more, as long as it is not too large to be substantially moved by the waves. The width of the float can be, for example, at least 1 m (0.3 feet), or at least 1.9 m (2 feet), up to, for example, 0.3 times the length of the float. Optionally, the float has a flotation center that is above the center of gravity. The float may, for example, have 9 to 225 kg (20-500 pounds), for example approximately 36 kg (80 pounds) of flotation, and / or a flotation that is 2 to 4 times the wet weight of the swimmer.

To reduce the danger of wind, waves or current forces pushing the float laterally, preferably both the water resistance center and the wind resistance center are behind the line junction point, as this helps to keep the float with a frontal orientation in which it has the smallest

25 global resistance. Wind and water forces acting on the parts of the float in front of the point of attachment of the mooring tend to rotate the float away from the desired orientation, while those behind the point of attachment tend to produce the desired orientation. Therefore, the float nose is preferably relatively blunt and truncated, while the tail portion of the float preferably has an extended tail portion with a greater vertical surface area.

The float may include a rudder. The rudder can be fixed during part or all of the operation of the vehicle, in order to keep the center of resistance behind the point of attachment of the mooring. The rudder can also be adjustable, in order to contribute to the guidance of the vehicle; In this case, the mooring is preferably attached to the swimmer ahead of the swimmer's resistance center. Especially when the tie is attached slightly

35 in front of the float center of the float, the submerged surfaces of the float may be shaped so as to produce a forward thrust.

The float optionally comprises an outer shell comprising a polymeric compound, for example a glass fiber or a carbon fiber reinforced polymeric compound, and / or a thick-walled elastomer sheet material. The housing may optionally surround a closed cell polymer foam core, for example a conformal closed cell foam, and / or a plurality of hollow cavities. In some embodiments, such cavities may be optionally inflatable (for example, being composed of an elastomer material), so that they can be fully or partially filled with water and / or air to control buoyancy.

45 The mooring

The mooring mechanically connects the float and the swimmer, and for this purpose it comprises a tensioning element with a suitable breaking strength, for example of at least 225 kg (500 pounds) or at least 675 kg (1500 pounds). The tensioning element may be composed, for example, of a metal, for example stainless steel, and / or a polymeric compound, for example Kevlar or Spectra. The mooring further comprises one or more elements that do not carry any load and that transmit electrical energy and / or data, for example one or more twisted pairs of insulated electrical conductors, optical fibers or acoustic cables. Generally, the mooring will support only tensile loads, although the invention includes the possibility that the mooring also resists compression, for example, is a bar.

55 To reduce strength, the mooring components are preferably arranged to minimize the area of the leading edge of the mooring, with the main tensioning element at the front. Thus, the mooring will optionally include a sheath, preferably of aerodynamic cross-section, composed for example of a polymeric compound, for example a compound based on silicone or vinyl chloride polymer, which surrounds the other components. Twisting the tie increases resistance, and optional measures can be taken to reduce twisting. For example, a second tensioning element may be present at the rear edge of the mooring, and / or the vehicle may include a device for detecting and correcting a twisting of the mooring, and / or the vehicle may be directed along a path in which balances turns clockwise and counterclockwise (particularly when the vehicle is traveling along a path that surrounds a fixed point).

65 The mooring can have, for example, an aligned dimension of 13 to 25 mm (0.5-1.0 inches), for example

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about 16 mm (0.625 inches) a transverse dimension of 3 to 13 m (0.125 to 0.5 inches), for example about 5 mm (0.19 inches) and a length of, for example, 3 to 25 m ( 10 to 80 feet), for example 5 to 7 m (17 to 23 feet). Either the float or the swimmer may include a reel or other equipment that makes it possible to change the length of the mooring, either to adapt it to particular wave conditions and / or water depth, and / or to make

5 that the vehicle be stored, transported and deployed more easily.

The mooring may include, for example, an elastomer element, for example a spring, which changes length reversibly when the relative positions of the float and the swimmer change. For example, a leg of a generally Y-shaped mooring can comprise such an elastomer element.

In some embodiments, there is only one mooring. The mooring can have, for example, a central section that is a single line, and a lower section (attached to the swimmer) and / or an upper section (attached to the float) that has two or more legs, fixed to front and rear positions , or to transverse positions, in the swimmer or the float. In one embodiment, the mooring is in the form of an inverted Y, the lower legs of the Y being

15 (a) aligned with, and fixed to, front and rear positions in the swimmer, or (b) transversely to the swimmer and fixed to components that extend transversely from the swimmer's axis.

When there is a single tie between the swimmer and the float, its configuration and point of attachment (or points of attachment, if the tie has two or more lower legs) to the swimmer are preferably such that the upward force exerted on the swimmer, when Pull the tie up, pass through the swimmer at or near the center of gravity of the swimmer. The swimmer is then substantially horizontal when the vehicle is in calm water. This helps the swimmer maintain a level orientation.

When there is a single tie between the swimmer and the float, its configuration and point of attachment (or points of attachment,

25 if the mooring has two or more lower legs) to the float are preferably such that the downward force exerted on the float, when the mooring is pulled up, passes through the float near, or slightly in front of, the center of float float.

In other embodiments, there are multiple moorings, for example first and second moorings respectively attached to front and rear positions on the float and the swimmer. Multiple moorings increase resistance, but reduce twisting.

The tension force of the mooring stabilizes both the swimmer and the float. Although each element can be independently stabilized by placing the center of flotation above the center of gravity, this is not

35 necessary. The fact that the line voltage stabilizes both the swimmer and the float simplifies vehicle control. In some embodiments, the vehicle only needs to be driven in a degree of freedom, and another attitude control is passively stabilized, making it unnecessary for the vehicle to include attitude control or aileron thrusters (although such thrusters and spoilers may be present) .

Fin system

When the swimmer moves through wave energy, the fin system configuration changes in cycles that correspond to the waves on the surface of the water. Generally, although not necessarily, the configuration changes in each cycle are substantially the same. The configuration changes in each cycle are

Generally generally substantially continuous, although they may be discontinuous (that is, there may be one or more periods in each cycle during which the configuration remains the same). For at least part of the cycle, the fin system interacts with the water to generate forces that push the swimmer in a horizontal direction. In some embodiments, the fin system comprises a fin that rotates about a transverse axis. In other embodiments, the fin system comprises a pair of fins that rotate about a longitudinal axis. In any case, as the swimmer rises and falls, the fin or fins may optionally suffer an elastic distortion that improves the forward thrust of the swimmer.

Different wave sizes will produce different responses of different fin systems. For example, with relatively large waves, most of the thrust often tends to occur during the ascending and

55 downward movement of fins, while with relatively small waves, most of the thrust tends to be the result of fin rotation. Flexible fins tend to produce thrust from both large and small waves.

For any particular water vehicle of the invention, the influence of the swimmer on the movement of the float will depend in part on the size and frequency of the waves. The movement of the float will also depend, for example, on environmental conditions such as water and wind currents, and any other propulsion or guidance system acting on the float. Under appropriate conditions, the swimmer will move the vehicle forward at a speed satisfactory for many purposes, without any other propulsion system (although it may be desirable to use another energy source to drive a guidance system).

65 The horizontal movement of the swimmer and the float will often be cyclic, alternating between a planning phase and a

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kite phase, the peak horizontal velocity of the float during the kite phase, and the peak horizontal velocity of the swimmer during the gliding phase. In the planning phase, the line voltage is low and the swimmer can plan forward quickly. The float can move forward slowly or not move forward. During the kite phase, the line tension is high and, if the swimmer succeeded in planning forward 5 during the planning phase, the line will be at an angle such that increased tension slows the forward movement of the swimmer. The pronounced line angle and high tension will pull the float forward quickly, partially reaching the advance that the swimmer made during the planning phase. The resistance is proportional to the square of the speed. As the swimmer's speed is maximum during the planning phase it is preferred to minimize the resistance in this phase. In the following and in the attached figures 27A-D an example of a water vehicle is described which achieves a low resistance during the planning phase and is able to pass quickly and calmly from the kite phase to the glide phase. In this example, the swimmer's body has a central body structure of maximum length along a longitudinal axis. Fins extend from each side of the body and can rotate relative to the body around an axis that is substantially perpendicular to the longitudinal axis of the body, and also preferably to the axis of the mooring. There may be a pair of wings with a

15 single axis, or multiple pairs of wings. Preferably, the rotation of the fins is controlled in part by a spring that will resist rotation in any direction from a rest position. An advantage of using such a spring is that it provides a resistance to rotation that increases smoothly without producing the noise resulting from sudden stops and which may impair the operation of sensitive acoustic instruments.

While the vehicle is at rest in calm water, the mooring is preferably vertical in general and is attached to the body so that the axis of the body is at an angle between 0 ° and 30 °, preferably between 3 ° and 10 ° with respect to to the horizontal The rope axis of the fin in the rest position is preferably horizontal in general.

25 When the line tension is released by downward movement of the float, the swimmer will move down and the fluid pressure on the wing will cause it to rotate to a gliding position, while the spring opposes this turn. The spring force and the lift force are balanced in such a way that the angle of the wing in the gliding position is similar to the longitudinal axis of the body and thus provides a minimum resistance. When the line tension increases due to the upward movement of the float, the swimmer will move up and the fluid pressure on the wing will cause it to rotate to a kite position, while the spring opposes this turn. The spring force and the lift force are balanced in such a way that the wing operates at an efficient angle of attack during the kite movement to produce a forward thrust.

An example of an efficient gliding wing shape has a high aspect ratio (wingspan / rope),

35 an elliptical plan shape, and a slender aerodynamic shape. A fin with a relatively short rope allows quick turns between a gliding angle and a kite angle, so that the fin can achieve an optimum angle of attack for each phase with minimal loss of movement.

A single fin is shown in Figure 27. Similarly, multiple fins are possible, each of which will behave similarly. In addition to the wing or wings that produce primary thrust, tail wings or smaller front control wings can be provided for stability.

Glide angle control:

45 The optimum glide angle will vary depending on the state of the sea. If wind or surface currents pull back the float, then a pronounced gliding angle may be necessary to achieve forward movement. Conversely, if the winds and currents are favorable, then a surface planing angle can increase the distance traveled in each planing cycle.

An active control can be applied to the angle of a tail wing or control wing to control the glide angle. Alternatively, or additionally, the center of gravity can be adjusted along the axis of the body by the movement of an internal mass. For example, a spindle drive can move the battery pack forward or backward to adjust the center of gravity. Alternatively, or additionally, the attachment of the mooring can be adjusted to affect the angle of the body.

55 In preferred embodiments, the vehicle is equipped with control and guidance systems that allow remote control in a desired manner, for example so that it moves in a closed pattern around a desired fixed location, and / or so that follow a desired path between two locations, which may be separated by many kilometers, and / or to move slowly back and forth along an area of the ocean in order to collect a wide variety of data.

If the float is also moved by other forces (for example by wind, water currents or a conventional propulsion system), the movement of the swimmer modifies (for example, accelerates or slows and / or changes the direction of) the movement of the float.

65 Different fin systems that interact with water in the desired way include, but are not limited to,

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various types described here. A particular fin system can make use of combinations of two or more of these types, except when they are incompatible with each other; and a water vehicle may comprise two or more fin systems of the same or different types or combinations of types. When reference is made in what follows "generally laminar fin" this includes the possibility that the thickness of the fin changes, on a regular basis

5 or irregular, in the transverse direction or in the aligned direction, or in both, and the possibility that parts of the fin extend outward from their generally laminar form. For example, at least part of a fin may have an aerodynamic cross section, that is, a cross section such that the fin produces lift and resistance when interacting with water with waves. When reference is made in what follows a generally laminar fin that "is generally in a horizontal plane", this includes the possibility that the main plane of the fin is in a plane that is inclined with respect to the horizontal in an angle that allows an effective operation of the fin, for example an angle not exceeding 45 °, preferably not more than 20 °, with respect to the horizontal.

In some embodiments of the invention, part or all of the fin system has a first configuration

15 when the vehicle is in calm water; it goes from the first configuration to a second configuration when the mooring pulls up the swimmer as a result of a wave crest that raises the float upwards; and goes from the second configuration to a third configuration when the swimmer sinks down as a result of a wave sine that allows the float to descend. The third configuration will generally be different from the first configuration, although the invention includes the possibility that it is the same as the first configuration. When the fin system passes from the second configuration to the third configuration, it can pass through the first configuration as a transitory state, although it is not necessary. The fin system may comprise, for example, one or more fins comprising generally laminar portions that deform elastically between the different configurations. Alternatively or additionally, the fin system may comprise, for example, one or more elastically deformable components, which may change shape between the different

25 configurations, and thus control, or contribute to the control of, the movement of the fin or fins comprising generally laminar portions. The elastically deformable component can control, or contribute to control, the movement of a fin only in one direction (for example, a spring), or in two or more directions, for example both in the upward and downward direction (by example, a torsion bar).

Limiting stops may be included to prevent unwanted movement of a fin, for example to avoid excessive flexion of a flexible fin. The stop may be a rigid stop, an elastic stop, for example a spring, including a spring of increasing constant.

The fin system comprises at least one fin, the fin preferably having one or more of the following characteristics:

(to)

It is elastically deformable at least in part.

(b)

It is substantially rigid at least in part.

(C)

It comprises an attack portion that is relatively rigid and a central portion and / or a leakage portion that is relatively and elastically deformable.

(d) It comprises an attack portion that is relative and elastically deformable, a central portion that is relatively rigid, and a leakage portion that is relative and elastically deformable.

(and)

It has a shape similar to the shape of a fish's tail or a whale.

(F)

In the first configuration, it is generally flat in a generally horizontal plane.

(g)

In the second configuration, it is generally laminar and curved downwards, the second configuration being the result of flexing and / or rotating the fin around an axis that is in a plane that is generally perpendicular to that of the mooring and generally at right angles with the longitudinal axis of the swimmer.

55 (h) When the swimmer sinks down as a result of a sine wave that causes the float to fall, the fin system changes from the second configuration to the third configuration, the third configuration being generally laminar and curved towards above.

Other optional functional features of the fin system include that:

(one)

It comprises a plurality of fins, which may be the same or different, and which may be aligned in the same horizontal plane, or which may be in two or more different planes.

(2)

It comprises a plurality of fins that are mounted to a frame, for example a plurality of fins

65 mounted on both sides of an axially aligned spine, or a plurality of fins mounted between aligned side rails.

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(3) Includes a pair of fins, the fins

(i) moving away from opposite sides of the swimmer's body, 5

(ii) being fixed to the swimmer's body so that they can move between the first and second configurations, extending the position of the fins in the second configuration upwards relative to the position of the fins in the first configuration, and

10 (iv) being pushed by a spring or other elastic recovery means to the first configuration and moving away from the second configuration.

(4) The fin system comprises a pair of fins and the mooring comprises an inverted V-shaped section

which has two legs, each leg being fixed to one of the fins; and 15

(5) Includes a caudal fin.

In the first aspect of the invention, the fin system optionally comprises at least one additional element whose shape is fixed and such that the additional element directly or indirectly generates desired horizontal forces 20 when the swimmer moves by the movement of the float. In an embodiment of the second aspect of the invention, such elements are the only means to generate the desired forces.

The optimum amount of flexibility for a flexible fin will depend on many design features and the characteristics of the anticipated wave. If the fin is too flexible, then the curvature during the movement of

Large amplitude can be so large that the leakage portion of the fin can be flexed to be parallel to the direction of movement and thus generate little thrust. If the fin is too rigid, then the fin will not flex with any inflection, and small amplitude entries will not generate thrust efficiently. Those skilled in the art will have no difficulty, in relation to their own knowledge and the information contained in this description, to determine an adequate amount of flexibility.

The fin system often includes a rigid component that is fixed to, preferably positioned above, the body of the swimmer. The rigid component can have, for example, one or more of the following characteristics:

(i) It is rigidly fixed to the body portion. 35

(ii) It is located above the body portion and a unitary mooring, or a mooring leg that has an inverted Y configuration, is fixed thereto.

(iii) At least one fin system is fixed to it. When there is more than one fin system, the systems 40 can be mounted one above the other and / or one next to the other.

(iv) It is the first component of a support system that also comprises a second rigid component. The first component is located above, and is fixed directly to, the body portion in a generally vertical plane and the second component is fixed directly to the first component and has one or more fin systems 45 fixed thereto. The second component is optionally fixed to the first component, so that it can rotate relative to the first component in a generally vertical plane, and the rotation may optionally be influenced by an elastically recoverable element, for example a spring or torsion bar. At least part of the mooring is optionally fixed to the second component so that pulling up the mooring distorts the elastically recoverable element. The extension of the rotation is optionally and additionally limited by an element

50 inextensible.

Water vehicles with pectoral fins

In some embodiments, a generally flat fin or a pair of generally flat fins suffer

55 an elastic deformation in the transverse direction (and can also suffer an elastic deformation in the alignment direction). In some cases, such fins can move vertically without substantially vertical movement of the swimmer's body. They are agitated in a manner similar to the pectoral fins of a fish, or to the wings of a bird. Preferably, the pectoral fin or fins rotate about an axially aligned longitudinal axis. Optionally, the surfaces of the pectoral fins can also rotate and / or flex with

60 in relation to the horizontal plane or in relation to a plane that intersects the longitudinal axis and an axis through the wing member.

Pectoral fins of this type are directly driven preferably by mooring, thus reducing the movement of the swimmer's body. In some cases, this makes them well suited for large swimmers or for 65 applications in which the swimmer's body should be kept relatively stationary.

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By attaching the mooring legs to different points along the pectoral fins, the amount of movement of the fin can be adjusted relative to the amount of line movement.

The pectoral fins can have, for example, an internal skeletal structure made of a less material

5 flexible, optionally substantially rigid, with high fatigue resistance, such as tempered steel or a composite of carbon fibers. The skeletal structure may include a front beam that makes the leading edge relatively rigid. The main flexion of the skeletal structure takes place by vertically curving the front crossbar near the joint to the body. The stiffness of the front beam can increase towards the outer parts to prevent the tips of the wings from falling. The rear edge of the wing may comprise,

10 for example, only the elastomer sheath material and be relatively flexible.

The tie is preferably attached to the pectoral wings at two points, one on each wing. The structure of the wing is preferably such that, when the mooring is not under tension, the fin flexes downwards; and when the vehicle is in calm water, the fins flex to a relatively flat position. Increasing the line tension 15 will cause the wings to flex upwards. The junction points of the line are preferably towards the leading edge of the pectoral wings. The center of gravity (COG) is preferably below the line junction point so that the swimmer's body is horizontally in calm water. If there is more fin area behind the line junction, an upward movement will cause the swimmer to lift the nose upwards. If there is more fin area behind the COG, a downward motion will cause the swimmer to sink the nose toward

20 down. Optionally, a helm directs the swimmer. Optional features of the device with pectoral wings may include:

(a) A smooth outer body that has no exposed mechanism and is resistant to scale.

25 (b) A flexion distributed over a large area so that fatigue can be minimized at specific points for a prolonged life.

(c) A global aerodynamic shape that allows increased speed.

30 (d) Sharp increases in the tension of the mooring are transmitted immediately to the fins so that the inertia of the vehicle does not prevent its conversion into thrust.

(e) The tips of the fins extend beyond the points of union of the line and the wing member is relatively rigid in this region, so that the tips of the fins move through an amplitude

35 greater than mooring. This helps to generate large amounts of thrust from small amounts of mooring movement.

Additional components

40 Additional components that may be part of the water vehicle include, but are not limited to, those described in paragraphs 1-14 above. Some components, for example electronic control equipment, can be part of both the float and the swimmer or both. Bulky or massive elements, for example batteries, and equipment that works best with limited movement and / or when protected from wind and noise, such as imaging or mapping equipment, hydrophones and sonar equipment, are preferably part of the swimmer . Others

45 components, for example solar collection means, radio and navigation antennas, beacons and meteorological sensors are preferably part of the float.

(1) Communications equipment for sending and / or receiving data, for example digital or analogue radio signals, by

example communications equipment for 50

(i)

send signals that reflect data collected through a monitoring or detection device that is part of the vehicle;

(ii)

receive signals, for example commands, from a base station (for example, a ship or a ground station)

55 or navigation devices, for example satellite navigation equipment such as a global positioning satellite (GPS), or sonar or radio buoys,

(iii) send signals to a reception station, for example via satellite,

60 (iv) send signals that are influenced by the position of the vehicle.

(2) Recording equipment for recording signals, for example digital or analog signals, for example signals that are

65 (i) influenced by signals from a satellite navigation system, for example, GPS;

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(ii) sent from the vehicle to a reception station, for example via satellite;

(iii) influenced by the position of the vehicle; or

5 (iv) influenced by a sensor that is part of the vehicle, for example a hydrophone incorporated into the swimmer;

(3)

Control electronics to control equipment that is part of the vehicle.

(4)

Guiding means, for example a rudder that is part of the float and / or a rudder that is part of the swimmer, the guiding mechanisms being, for example, a fixed rudder on the float (for example to keep the center of resistance behind from the point at which the mooring is attached to the float), and / or a rudder or other guiding means that are attached to the swimmer and that include a rudder actuator that responds to signals generated in the vehicle, for example of a magnetic compass or a gyro, and / or received by communications equipment that is part of the vehicle.

fifteen

(5)

Sources of electrical energy, for example batteries or fuel cells, preferably energy sources that can be recharged, for example by the output of solar cells mounted on the float. The batteries, because they are heavy, are preferably placed in the body of the swimmer's container. There may be, for example, four to ten 6V lead acid batteries.

(6)

Means for using solar energy, for example solar panels or solar cells, mounted on the float.

(7)

A sensor, using this term to denote any device that reports, or responds to a change in, any observable condition. Thus, the sensor can be any of a wide variety of devices

25 scientists or surveillance, for example a compass, a gyro, a temperature sensor, a pressure sensor, a sensor of any type of electromagnetic radiation, for example visible, ultraviolet or infrared light, a chemical sensor, for example a sensor salinity, a magnetometer, a biological sensor, a geological sensor, a water current sensor, a depth sensor, a speedometer, imaging equipment for the seabed, a weather sensor or other climatic changes, for example wind speed , precipitation, or barometric pressure,

or a hydrophone (for example, a hydrophone to monitor sounds made by whales or other aquatic life).

In some embodiments, because the vehicles of the invention do not need to include conventional propulsion components, or other noisy components, they provide excellent platforms for noise sensitive devices and have no adverse effect on transported noise sensitive devices.

35 by other equipment, for example by other water vehicles.

(8)

Auxiliary propulsion means, for example a motorized propeller.

(9)

Attitude control means, for example ailerons.

(10)

Means to reversibly alter float buoyancy. Such means include, for example, chambers that can be inflated with air to increase buoyancy and deflated to reduce buoyancy, and / or chambers that can be filled with water to decrease buoyancy and emptied to increase buoyancy. In this way, the float can be maintained at a desired level in the water (even submerged). Reduce buoyancy is

45 valuable, for example, when adverse weather conditions can endanger the vehicle, particularly if the vehicle is relatively small. Such cameras may comprise, for example, valves, for example unidirectional valves, which are controlled by computers that respond to sensor inputs of the vehicle itself or to radio signals. The energy required to inflate and / or empty such chambers can be derived directly from waves hitting the float, and / or the wave energy generated by the relative movement of the float and the swimmer, and / or stored electrical energy. For example, a chamber may comprise a flexible portion that acts as a pump when hit by waves, and that either fills or empties the chamber, depending on the position of the valves. Alternatively or additionally, the float may comprise one or more chambers with one or more inlets through which water can enter when the waves are high, but not when the waves are low, and one or more exits through which it can be drained the water when the waves are low.

55

(eleven)

Equipment for collecting samples, for example samples of water, air, aquatic organisms, marine animals, vegetables or minerals.

(12)

Equipment to use wind power, for example to recharge batteries.

(13)

Auxiliary electrical equipment, for example lights, beacons, or a motor that drives a propeller.

(14)

Means to convert part or all of the swimmer's movement into electrical energy.

In some embodiments, it is possible to simultaneously operate surface components, for example solar and / or radio cells, and a submerged component, so that the data transmission can be "in time

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real". It is also possible to plan alternate phases of data collection and transmission.

Driving the vehicle along a desired path

In some uses of the invention, the vehicle is driven along a desired geographical path with the help of a computer attached to the float or the swimmer. The computer is used for example

(to)

to process (i) entries of a magnetic compass or gyro (preferably attached to the swimmer), (ii) entries of a satellite navigation system, for example GPS (preferably attached to the float), and (iii) pre-programmed geographical coordinates in the computer and / or entered into the computer using radio commands; Y

(b)

to send commands to (i) a rudder control system that controls a rudder or rudders in one or both of the float and the swimmer, preferably in the swimmer, and (ii), if the vehicle has a means of propulsion or control

15 auxiliaries, to those means. The input to the computer may include data available from other sources, for example to take into account winds and currents.

In other uses of the invention, the vehicle is driven along a path that is determined using a computer incorporated into the float or the swimmer, or both, using the computer to

(to)

process an input of a sensor attached to the vehicle itself, or of a network of vehicles, one or more of which are vehicles of the invention, and

(b)

send commands to (i) a rudder control system that controls a rudder or rudders at one or both of the

25 float and the swimmer, preferably in the swimmer, and (ii), if the vehicle has auxiliary propulsion or control means, to those means.

Thus, for example, a hydrophone, magnetometer, or other sensor in the vehicle could identify the presence of an object in or on the water or on the seabed, for example a ship or other floating or submerged object, a whale or another sea creature, and the vehicle could be directed to follow a trajectory related to that object, for example to follow the movement or presence of that object.

The operation of the vehicle can be controlled by signals sent to it from a remote control station and / or by signals generated by the vehicle itself, optionally in conjunction with one or more

35 preprogrammed command structures that are part of the vehicle itself.

One way to keep the vehicle near a fixed point ("position maintenance") is to direct the vehicle to the fixed point at regular intervals, for example 1-10 minutes. If the vehicle has exceeded the fixed point, return to the end of the interval. Successive turns are preferably clockwise and counterclockwise, to reduce the risk of twisting of the mooring, and each of the turns is preferably as small as is consistent with avoiding twisting of the mooring. Another way is to steer the vehicle along a path generally in the form of eight, with the center of the path being the fixed point, and with the vertical axis of the path aligned with any ocean current. The vehicle follows a straight line between each of the turns, and again successive turns are clockwise and counterclockwise; and, if the time spent outside an area defined by the

45 straight sections of the path is important, each of the turns is preferably as small as is consistent with preventing the twisting of the mooring.

In many applications, it is unnecessary to control the speed of the vehicle. However, if such control is desired, this can be provided, for example, by means of measures such as controlling the angle of attack of the fins, allowing the fins to be flagged, and holding the fins rigidly, to decrease their efficiency when less thrust is desired. If there are fins on each side of the swimmer's body, these measures can also be used to guide the swimmer.

Storage and deployment

55 In order to facilitate storage and transport of the swimmer, the point of attachment between the fin and the body of the swimmer may include a pivotal joint that allows the swimmer to be stored with the fin axis parallel to the body axis, by example in a tank, although it allows the fin to be turned 90 ° to its operating position. This joint can be elastic and equipped with a fastener or the like, so that the fin can be locked in the operating position.

The drawings

Figure 1 shows a float 11 that is connected to a swimmer 21 by a mooring 31. The float

65 comprises a body 111 on which solar panels 112, a GPS receiver 113, an antenna 114, and an electronic box 115 are mounted. A rudder 116 is fixed to the back of the float. Tie 31, which has a Y-shape

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inverted with lower legs 311 and 312, connect the float and the swimmer. The swimmer comprises a body 211 having a conical nose 212. Mounted on the outside of the body 211 are fin systems 213 and 214. Enclosed by the body 211 are electrical passages 215 for the leg 311 of the mooring, batteries 216, electronics control 217, rudder servomechanisms 218 and a passage of the rudder bar 219. A rudder 222 is mounted on the rear of the swimmer's body and is controlled by a rudder drive bar

221

Figures 2 and 3 are cross sections of fins that can be used in the present invention. Each comprises a rigid front beam 2131, which may be composed, for example, of a laminated metal sheet compound and / or has a steel core, a relatively inflexible central sheet section 2134, which may be composed, for example, of metal and / or fiberglass, and a relatively flexible 2135 backsheet section. In Figure 3, there is also a relatively flexible front sheet section 2133, and the flexible rear sheet is integral with a flexible outer sheath 2136. The various sections may be joined or held together with fasteners such as rivets 2132.

Figure 4 is a cross section of a tie 31 comprising a tensioning element 311, six twisted pairs of insulated electrical conductors 314, and an aerodynamic polymer sheath 315.

Figure 5 is a block diagram of a control system for directing the vehicle along a desired path. Other control systems can be used.

Figure 6 shows a path generally in the form of eight repetitively followed by a vehicle to keep it within a target area around a fixed point 2 (except when it is rotating outside the zone). The axis of the path is aligned with the ocean current. The vehicle follows a straight path between the

25 points 1 and 3, passing through point 2. At point 3, control systems in the vehicle notice that the vehicle has reached the perimeter of the target area, and actuate a rudder so that the vehicle turns counterclockwise between points 3 and 4. The vehicle then follows a straight path between points 4 and 5, passing again through point 2. At point 5, the control system drives the rudder so that the vehicle rotates in time direction between points 5 and 1. If the vehicle is moved by wind and / or currents in addition to wave energy, auxiliary propulsion means may be necessary to keep the vehicle within the target area.

Figure 7 is a perspective view of a swimmer 21 and a mooring 31. Two substantially identical fin systems, each comprising a rigid vertical pole 226 and a fin 213, are fixed to the body of the swimmer 211. The legs 311 and 312 of the mooring are attached to the upper parts of the posts 226. Each fin comprises a relatively rigid front beam 2131 and a relatively flexible rear section 2135 shaped so that the fin can function without hitting the swimmer's body; the fin optionally includes one or more intermediate sections (not shown) that have a relatively greater or lesser flexibility. A hinge structure 2262 is bolted to each front beam 2131 and rotates around pivot axes fixed to posts 226. Each of four torsion bars 2263 is fixed at one end to one of the vertical posts and at the other end to a front stringer as a selected position to provide a desired degree of control over the rotation of the front stringer. Each fin can have, for example, a cross section generally as shown in Figure 2 or Figure 3. Rigid vertical fins 222 and 223 are fixed to the leakage and attack ends respectively of the swimmer's body. The fin 223 is fixed. The fin 222 can be

45 controlled to rotate about a vertical axis.

Figure 8 shows how the shape of the fins in Figure 7 changes when the swimmer is pushed up and down by the movement of the waves.

Figure 9 is a perspective view of a swimmer 21 and a mooring 31, and Figure 10 is an enlarged perspective view of part of Figure 9. Two substantially identical fin systems, each of which comprises a vertical pole rigid 226 and a fin 213, are fixed to the body of the swimmer 211. Each fin comprises a relatively rigid front beam 2131 and a relatively flexible rear section 2135, shaped so that the fin can function without hitting the swimmer's body; the fin optionally includes one or more

55 intermediate sections (not shown) that have relatively greater or lesser flexibility. A hinge 2262 is screwed to each front beam 2131. Bars 2265 are fixed to hinges 2262. One end of each bar 2265 is rotatably fixed to a pivot shaft at the top of one of the posts 226, and the other end is rotatably fixed to the longitudinal bar 2266 that joins the bars 2265 attached to the respective posts. Springs 2267 are fixed to the swimmer's body and to the bar 2266. The tie 31 is fixed to the longitudinal bar 2266. Rigid vertical fins 222 and 223 are fixed to the leakage and attack ends respectively of the swimmer's body. The fin 223 is fixed. The fin 222 can be controlled to rotate about a vertical axis. In a similar embodiment (not shown), the springs rotatably join the bars 2265 instead of the bar 2266.

65 Figures 11A to 11D show how the shape of the fins in Figure 9 changes when the swimmer is pushed up and down by the movement of the waves. In figure 11A, the swimmer is being pushed towards

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above; the tension of the mooring increases and pulls the bar 2266 upwards, stretching the springs 2267; the leading edges of the fins rotate downwards and the leaking sections of the fins bend upward, producing a thrust from the lower surfaces of the fins; and the swimmer moves up. In Figure 11B, the tension of the mooring remains high; after the rotation of the leading edge of the fin reaches its mechanical limit, and the leaking sections 5 of the fins bend downward, producing thrust from the upper surface of the fin, the swimmer continues to move upwards. In Figure 11C, the tension of the mooring has decreased; and the vanishing sections of the fins curl down, generating a thrust from the upper surfaces of the fins, and the swimmer moves down. In Figure 11D, the tension of the mooring remains low; the attack sections of the fins remain turned upwards and the leakage sections of the fins curve upwards, producing

10 thrust from the bottom surfaces of the fins; and the swimmer continues his downward movement.

Figures 12-21 show the swimmer of different types of water vehicles of the invention. In each, a swimmer 21 has a center of gravity 230 and comprises a body of the swimmer 211, a conical nose 212 and a rudder 222. Attached to the body of the swimmer is a fin system comprising a (one) post (s) )

15 vertical (s) 226 and one or more fins, each fin comprising two or more flexible internal sections 2133, a rigid section 2134 and a flexible external section 2135.

In Figures 12-16, there is a single post, and a tie 31 is fixed to the top of the post. In Figures 12-14, the leading edge of a single fin is fixed in an intermediate position on the pole. In Figures 15 and 16, the edge of

20 single-wing attack is rotatably fixed around pivot point 2261 in an intermediate position on the pole. In Figure 16, a stop 2268 limits the rotation of the leading edge of the fin.

In Figure 17, there is a single post that has a bar 2265 rotatably fixed to its upper part. The leading edge of the fin is fixed to one end of the bar 2265, and the mooring 31 is fixed to the other end of the bar 2265. The rotation of the bar 2265 is controlled by the spring 2267 fixed to the post and to the bar . Figure 18 is similar to Figure 17, except that there are three bars 2265 with attached fins, the tie 31 is fixed to the upper bar, and a line fixed to the upper parts of the three bars and to the body of the swimmer includes the spring 2267. Figure 19 is somewhat similar to Figure 18, except that the three bars 2265 with built-in fins are arranged horizontally each has an end rotatably attached to a lower horizontal bar attached to two vertical posts 226 and the

30 Another end rotatably fixed to an upper horizontal bar 2266. The rotation of the bars 2265 is controlled by the spring 2267 which is fixed to the upper horizontal bar and the body of the swimmer.

In Figures 20 and 21, there is a single pole that has a bar 2265 rotatably fixed to its upper part. The leading edge of the flap is fixed to one end of the bar 2265. The lower legs 311 and 312 of the mooring 31 are

35 are fixed to the ends of the bar 2265, and the leg 312 includes the spring 2267. The rotation of the bar 2265 is limited by a flexible line 2268. A fixed horizontal stabilization fin 225 is fixed to the leaking end of the swimmer's body .

Figures 22A-22C show the different configurations of a swimmer comprising a swimmer's body

40 21 having a rigid rear section 214 having a horizontal fixed stabilizer 225 fixed thereto; a central section 228 that can be elastically deformed in the vertical plane but not substantially deformed in the horizontal plane; and a rigid front section 212 to which a rigid fin 213 is attached. A mooring 31 is fixed to the previous section 212. In Figure 22A, the swimmer is in calm water. In figure 22B the swimmer is being pushed up. In Figure 22C, the tension of the mooring has dropped, and the swimmer's weight is ahead of the

45 lift center, causing the previous section to tilt down.

Figure 23 shows a swimmer operating similarly to the swimmer shown in Figure 22. The rigid fin 213 rotates relative to the rigid body of the swimmer 211, and the tie is attached to the top of a pole 226 that rotates in relation to to the fin and body of the swimmer, and that carries a 226 stabilization ballast in its

50 lower end.

Figures 24 and 25 show swimmers in which the fin system comprises two fins 233 that rotate around an aligned axis and that are connected, at outboard points of the swimmer's body, to transverse lower legs 315 and 316 of the mooring 31. The swimmer shown in Figure 24 also includes fins

55 rigid fixed verticals 223 at the attack end of the swimmer's body.

Figures 26A, 26B and 26C are top, side and front views of the swimmer of a water vehicle, and Figure 26D is an enlarged view of the front of Figure 26B. The figures show a mooring 31; a body of the swimmer 211 having a conical nose 212, a rudder 222 and a COG 230; and a fin system comprising 60 vertical posts 226, a horizontal bar 2265, and a plurality of identical fins. Each fin is rotatably connected to the bar 2265 at a pivot point 2261 and also fixed to the bar 2265 by means of springs 2267 that control the rotation of the fin. Each fin comprises substantially rigid leading edge 2131, a relatively inflexible central section 2134, and a relatively flexible leakage section 2135. In similar embodiments, the number of fins could be, for example, from 3 to 8, for example 5, the bar 2265 and the springs 2267

65 could be configured so that the movement of each fin is controlled by a single spring.

E07716687

05-08-2014

Figures 27A-D show different swimmer attitudes when moving through different phases in their interaction with water. The vehicle comprises a float 11, a mooring 31, and a swimmer 21 comprising a body 211 and a fin extending on both sides of the body 211. The fin rotates around a fin axis 2137 that is at right angles with the mooring axis and at right angles with the axis of the swimmer's body 2117. The fin has a rope axis 2138 that is parallel to the axis of the body 2117 when the vehicle is at rest (figure 27A) and during the planning phase (figure 27C), and is at an angle to the axis of the body 2117 during the kite phase (Figure 27D).

Claims (11)

E07716687 05-08-2014 1. A wave-propelled water vehicle, comprising: 5 (1) a float (11) comprising a satellite position sensor (113),

(2)

a swimmer (21) comprising (a) a horizontal sensor that senses the direction in a horizontal plane, and (b) a guiding actuator (222),

(3)

a mooring (31) that connects the float (11) and the swimmer (21), and

(4)

a computer system (115, 217) that (a) is linked to the position sensor, the horizontal sensor and the guidance actuator (116, 222), and (b) contains, or can be programmed to contain, instructions to control the guidance actuator in response to signals received from the position sensor and from the horizontal sensor, or

15 in response to signals received from a sensor in the vehicle; being the float, swimmer and mooring such that, when the vehicle is in calm water,

(i)

the float (11) is on or near the surface of the water,

(ii)

the swimmer (21) is submerged below the float (11), and

(iii) the mooring (31) is under tension; 25 comprising the swimmer (21) (2a) a body (211) of the swimmer having a longitudinal axis and (2b) a fin system (213, 214) that (a) is attached to the body (211) of the swimmer,

(b)

comprises a fin, and 35 (c) when the vehicle is in water with waves,

(i)

it has a configuration that changes as a result of the movement of the waves, and

(ii)

interacts with water to generate forces that tend to move the swimmer in a horizontal direction.

2. A water vehicle according to claim 1, comprising (1) solar panels or solar cells (112) mounted on the float, (2) batteries or fuel cells (216) that can be recharged by the output of solar panels or solar cells, and (3) communications equipment (114) to send and receive data.

A water vehicle according to claim 1 or 2, which includes a sensor that is a compass, a gyro, a temperature sensor, a pressure sensor, an electromagnetic radiation sensor, a chemical sensor, a magnetometer, a biological sensor, a geological sensor, a water current sensor, a depth sensor, a speedometer, equipment for seabed images or a climate change sensor.

Four.

A water vehicle according to any of the preceding claims, which includes a hydrophone.

5.

A water vehicle according to any of the preceding claims, in which the fin system has one or both of the following characteristics:

55 (A) the fin comprised in the fin system rotates around an axis of rotation, and the fin system comprises an elastic component (2267) which (i) is not part of the fin comprised in the fin system, and (ii) it deforms elastically and thus influences changes in the configuration of the fin system when the vehicle is in water with waves; Y (B) the fin comprised in the fin system comprises a fin having a leading edge (2131) comprising (i) a relatively rigid central section having a fixed spatial relationship with the swimmer's body, and (ii) sections outboard (2135) relatively deformable. 6. A water vehicle according to any of the preceding claims, wherein (1) the fin 65 comprised in the fin system comprises a plurality of fins (2131), (2) the fin system comprises a rigid rod (2265) that is mounted on the body of the swimmer, (3) each of the plurality of fins is ride from 19 E07716687 05-08-2014 rotating mode on the rigid bar (2265), and (4) the fin system comprises an elastic component (2267) that (i) is not part of the plurality of fins and (ii) elastically deforms and thus influences changes in System configuration when the vehicle is in water with waves. A water vehicle according to any of the preceding claims, wherein the mooring comprises an elastically deformable element. 8. A water vehicle according to any of the preceding claims, wherein the mooring it comprises a tensioning element (313) and one or more elements (314) that do not carry any load and that transmit electric power and / or data. 9. A water vehicle according to any of the preceding claims, wherein the mooring comprises first and second moorings attached respectively to the front and rear positions of the float and the swimmer. fifteen 10. A water vehicle according to any of the preceding claims, wherein the swimmer's body has one or both of the following characteristics (1) comprises a second fin (212) that (i) is not included in the fin system, and (ii) influences the orientation of the swimmer's body in the horizontal plane when the vehicle is in water with waves; Y (2) comprises a generally tubular housing and third fins (222, 223) that (i) are not included in the fin system and (ii) provide adjacent vertical fin surfaces respectively to the front end and the rear end of the swimmer's body . 25 11. A water vehicle according to any of the preceding claims, wherein the swimmer has a center of gravity, and the mooring is attached to the swimmer substantially vertically above the center of gravity; the float has a flotation center, and the mooring is attached to the float substantially vertically above the flotation center; and the float has a resistance center, and the mooring is attached to the float in front 30 of the center of resistance. 12. A water vehicle according to any one of the preceding claims, comprising a motorized propeller. A water vehicle according to any of the preceding claims, wherein the float comprises chambers that can be inflated with air to increase buoyancy and deflated to reduce buoyancy, and / or chambers that can be filled with water for decrease buoyancy and emptied to increase buoyancy. A method of using wave energy comprising placing a water vehicle as defined in any one of claims 1 to 14 in a body of water that has or is expected to have water waves that travel across its surface . 15. A method of using wave energy according to claim 14, wherein the water vehicle 45 comprises communications equipment for sending and receiving data, and the method comprises sending signals to the communications equipment from a remote control station. twenty